SSERIAL #

load sserial

load vel_int

load linrev

load idx_home

sserial0.rt_prio = 2.0

sserial0.frt_prio = 2.0

linrev0.rt_prio = 2.1

vel_int0.rt_prio = 2.2

idx_home0.rt_prio = 2.3

linrev0.cmd_in = sserial0.pos_cmd

linrev0.cmd_d_in = sserial0.pos_cmd_d

vel_int0.pos_in = linrev0.cmd_out

vel_int0.vel_in = linrev0.cmd_d_out

fault0.en = sserial0.enable

sserial0.fault = fault0.fault

fault0.cmd_error = sserial0.error

linrev0.fb_in = idx_home0.pos_out

linrev0.fb_d_in = vel1.vel

idx_home0.fb = fb_switch0.mot_fb_no_offset

idx_home0.fb_abs = fb_switch0.mot_abs_fb_no_offset

idx_home0.index_en = sserial0.index_out

idx_home0.mot_state = fb_switch0.mot_state

sserial0.index_clear = idx_home0.index_clear

linrev0.rev_clear = sserial0.index_clear

sserial0.pos_fb = linrev0.fb_out

sserial0.vel_fb = linrev0.fb_d_out

sserial0.pos_advance = 0.0008

rev0.in = vel_int0.pos_out

rev0.in_d = vel_int0.vel_out

pid0.vel_ext_cmd = rev0.out_d

vel_int0.wd = 0.002

vel0.en = 0

velbuf0.rt_prio = 0

io0.cmdy = sserial0.error

io0.cmdg = 1

sserial0.in0 = io0.ind0

sserial0.in1 = io0.ind1

io0.out0 = sserial0.out0

io0.out1 = sserial0.out1

io0.out2 = sserial0.out2

fault0.brake_release = sserial0.out3

term0.wave2 = linrev0.cmd_d_out

sserial0.current = hv0.iq_fb

linrev0.scale = sserial0.scale

io0.clock_scale = sserial0.clock_scale